Hybrid Force/impedance Control for the Robotized Rehabilitation of the Upper Limbs
نویسندگان
چکیده
This paper presents the architecture and the control hierarchy of a 3 degrees-offreedom robot destined for the rehabilitation of the upper limbs. A hybrid control law, using a weighted sum of force and impedance, is proposed to implement the ActiveAssisted rehabilitation mode. Parameters’ tuning of the resulting active force feedback controller is based on a compromise between user’s safety and dynamic performances. Some results illustrate the performances of the developed controller. Copyright © 2005 IFAC
منابع مشابه
A Case Report of Bilateral Upper Extremities Arthrogryposis
Arthrogriposis is a disorder in which two or more joints in more than one limb of body, place in a stable position and malformation status that usually is the result of jointschr('39') immobilization during fetal period. Problems resulting from this congenital deficit can occur in difference places, in upper and lower limbs, trunk, and even in face. It occurs in 3 of 1000 births, in two-third o...
متن کاملImpedance Control for Robotic Rehabilitation: A Robust Markovian Approach
The human-robot interaction has played an important role in rehabilitation robotics and impedance control has been used in the regulation of interaction forces between the robot actuator and human limbs. Series elastic actuators (SEAs) have been an efficient solution in the design of this kind of robotic application. Standard implementations of impedance control with SEAs require an internal fo...
متن کاملVariable Impedance Control for Rehabilitation Robot using Interval Type-2 Fuzzy Logic
In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...
متن کاملRobust Hybrid Motion Force Control Algorithm for Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...
متن کاملSafety Supervisory Strategy for an Upper-Limb Rehabilitation Robot Based on Impedance Control
User security is an important consideration for robots that interact with humans, especially for upper‐limb rehabilitation robots, during the use of which stroke patients are often more susceptible to injury. In this paper, a novel safety supervisory control method incorporating fuzzy logic is proposed so as to guarantee the impaired limb’s safety should an emergency situatio...
متن کامل